PRIME is a MAP optimization framework that refines onboard kinematics into dynamically consistent trajectories for legged robots while jointly estimating contact forces and inertial parameters using differentiable smoothed contact dynamics.
Crocoddyl: An efficient and versatile framework for multi-contact optimal control,
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
Augments MPC with a safety value function terminal constraint to achieve recursive feasibility and persistent safety while co-optimizing performance.
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PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
PRIME is a MAP optimization framework that refines onboard kinematics into dynamically consistent trajectories for legged robots while jointly estimating contact forces and inertial parameters using differentiable smoothed contact dynamics.
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Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control
Augments MPC with a safety value function terminal constraint to achieve recursive feasibility and persistent safety while co-optimizing performance.